NDLI: Precision evaluation of modular multiscale robots for peg-in-hole microassembly tasks

Content Provider	IEEE Xplore Digital Library
Author	Das, Aditya N. Popa, Dan O.
Copyright Year	2011
Description	Author affiliation: Automation and Robotics Research Institute, University of Texas at Arlington, USA (Das, Aditya N.; Popa, Dan O.)
Abstract	The design of a robotic manipulator, including the type of joints, actuators, and other geometric parameters significantly affects its precision (or positioning uncertainty) at the end-effector. Furthermore, sensor and actuator resolution and choice of control scheme will also contribute to the manipulator's precision. Modeling and simulation of these uncertainties can provide useful insight and serve as design guidelines for precision manipulators used in micro and nanomanufacturing. Of particular interest are assembly scenarios where the tolerance budgets are stringent and precision requirements are high, but there is little space for extensive sensor feedback due to a small work volume. In this paper, we investigate the effect of parametric uncertainties in a serial robot chain composed of prismatic or rotary “modules” on the overall positioning uncertainty at the end-effector. Two types of errors are considered: static errors due to misalignment and link parameter uncertainties, and dynamic errors due to inaccurate motion of individual links. Using common uncertainty metrics, we compare the precision of six different robot kinematic chain configurations and select the best suited ones for a generic Peg-in-Hole microassembly task.
Starting Page	1699
Ending Page	1704
File Size	671703
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095017
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Microassembly Solid modeling Robot sensing systems Mathematical model
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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